- added initial for filling Delay line

- added gain parameter for Pot sim
- from state change to heat init model temp with plant temp
- updated config template

components/pid/temp_controller.py

@@ -165,7 +165,8 @@ if __name__ == '__main__':
 		"M"			: 20,
 		"L"			: 0.05,
 		"Td"		: 80,
-		"kn"		: 0.2
+		"kn"		: 0.2,
+		"gain"		: 0.8
 	}
 
 	temp_ist = 0

components/pid/temp_controller_smith.py

@@ -145,7 +145,7 @@ class TempController(APid):
 			self.state = state_next
 			print("New state = {}".format(state_next))
 			if state_next == States.HEAT:
-				self.kalman_plant.initial((self.theta_ist, 0))
+				self.model.initial(self.theta_ist)
 				self.kalman_model.initial((self.theta_ist, 0))
 
 	def process_pid(self, theta_err, heatrate_err):
@@ -174,7 +174,8 @@ if __name__ == '__main__':
 			"M"			: 20,
 			"L"			: 0.05,
 			"Td"		: 80,
-			"kn"		: 0.2
+			"kn"		: 0.2,
+			"gain"		: 0.8
 		},
 		"Kalman": {
 			"var_P"	: 1.0,
@@ -202,7 +203,8 @@ if __name__ == '__main__':
 		"M"			: 20 + 4,
 		"L"			: 0.07,
 		"Td"		: 80 + 5,
-		"kn"		: 0.2
+		"kn"		: 0.2,
+		"gain"		: 0.8
 	}
 
 	temp_ist = 0

components/plant/delay.py

@@ -3,11 +3,14 @@ import numpy as np
 
 class Delay:
 	def __init__(self, dt, delay, ic):
-		nd = int(delay/dt + 0.5)
-		self.delay_line = np.ones(nd+1)*ic
+		self.nd = int(delay/dt + 0.5)
+		self.delay_line = np.ones(self.nd+1)*ic
 		self.ri = 0
 		self.wi = 0
 
+	def initial(self, ic):
+		self.delay_line = np.ones(self.nd+1)*ic
+
 	def put(self, data):
 		self.delay_line[self.wi] = data
 		self.wi += 1

components/plant/pot.py

@@ -9,8 +9,8 @@ class Pot(APlant):
 
 		self.e = 0
 		self.x = 0
-		self.gain = 0.999
 
+		self.gain = params['gain']
 		self.C = params['C']
 		self.M = params['M']
 		self.L = params['L']
@@ -24,6 +24,11 @@ class Pot(APlant):
 		self.power_set = 0
 		self.delay = Delay(self.dt, self.Td, params['theta'])
 
+	def initial(self, temp):
+		self.temp_intermediate = temp
+		self.temp = temp
+		self.delay.initial(temp)
+
 	def activate(self, enable):
 		pass
 

config.json.templ

@@ -13,8 +13,9 @@
 			"C": 4190,
 			"M": 25,
 			"L": 0.05,
-			"Td": 80,
-			"kn": 0.2
+			"Td": 15,
+			"kn": 0.2,
+			"gain" : 0.8
 		},
 		"Kalman": {
 			"dt": 1.0,
@@ -39,12 +40,13 @@
 	},
 	"Plant": {
 		"dt": 1.0,
-		"theta": 15,
+		"theta": 20,
 		"C": 4190,
-		"M": 20,
+		"M": 25,
 		"L": 0.1,
-		"Td": 60,
-		"kn": 0.2
+		"Td": 15,
+		"kn": 0.2,
+		"gain" : 0.8
 	},
 	"Heater": {
 		"dt": 1.0,